摘要
不当超车行为是造成高速公路交通事故的主要原因之一.针对超车场景中状态机模型设计难度大且泛化性不足的问题,引入动态非合作博弈模型分析车辆间的交互行为,并考虑驾驶员不同风格搭建超车决策模型.首先,通过因子分析法和K-means聚类法将驾驶员划分为激进型、普通型和保守型3种驾驶风格.然后,引入Stackelberg博弈论描述自车与障碍车的交互,构建包含安全、舒适和通行效率的博弈成本函数,结合不同驾驶风格求解最优超车决策.此外,研究考虑不同驾驶风格影响的5次多项式换道轨迹,建立满足多需求的决策评价函数,求解出不同驾驶风格组合下的最优换道时间.最后,通过PreScan和Simulink联合仿真验证该决策模型在多场景下的有效性,旨在帮助智能车辆做出类人化的超车决策,提高通行效率和行车安全性.
Improper overtaking behavior is one of the main causes of traffic accidents on highways.To address the challenges in designing state machine models for overtaking scenarios,which often suffer from high complexity and insufficient generalization,this paper introduces a dynamic non-cooperative game model to analyze the interactive behaviors between vehicles.Additionally,an overtaking decision-making model is developed by considering different driver styles.Firstly,drivers are classified into three styles—aggressive,normal,and conservative—using factor analysis and K-means clustering.Subsequently,the Stackelberg game theory is employed to describe the interaction between the ego vehicle and the obstacle vehicle.A game cost function incorporating safety,comfort,and traffic efficiency is constructed,and the optimal overtaking decision is derived by integrating different driving styles.Furthermore,a quintic polynomial lane-changing trajectory is studied,taking into account the influence of different driving styles.A decision evaluation function that meets multiple requirements is established to determine the optimal lane-changing time under various combinations of driving styles.Finally,the effectiveness of the proposed decisionmaking model is validated through co-simulation using PreScan and Simulink across multiple scenarios.The aim is to assist intelligent vehicles in making human-like overtaking decisions,thereby improving traffic efficiency and driving safety.
作者
王启明
万璇
方鸣
吕志超
杭鹏
WANG Qi-ming;WAN Xuan;FANG Ming;LV Zhi-chao;HANG Peng(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;College of Transportation Engineering,Tongji University,Shanghai 201804,China)
出处
《控制与决策》
北大核心
2025年第7期2300-2312,共13页
Control and Decision
基金
国家自然科学基金项目(NSFC-52302502).
关键词
智能网联汽车
动态非合作博弈
驾驶风格
超车行为决策
轨迹规划
connected and automated vehicle
dynamic non-cooperative game
driving style
overtaking behavior decision
trajectory planning
作者简介
通信作者:王启明(1991−),女,副教授,博士,硕士生导师,主要研究方向为新能源汽车系统测控技术、智能驾驶决策控制,E-mail:wangqm@usst.edu.cn;万璇(2000−),女,硕士生,主要研究方向为智能驾驶决策控制,E-mail:Wxuan0422@163.com;方鸣(1998−),男,硕士生,主要研究方向为智能驾驶决策控制,E-mail:fm18751426261@163.com;吕志超(1987−),男,博士后,主要研究方向为智能驾驶拟人决策方法研究及高性能实车计算平台设计,E-mail:Lvzhichao@tongji.edu.cn;杭鹏(1991−),男,副教授,博士生导师,主要研究方向为智能网联汽车协同决策、规划与控制、拟人化自动驾驶、集群智能与协同控制,E-mail:Hangpeng@tongji.edu.cn.
